Single Site Robotic Device and Related Systems and Methods

ABSTRACT

The embodiments disclosed herein relate to various medical device components, including components that can be incorporated into robotic and/or in vivo medical devices. Certain embodiments include various medical devices for in vivo medical procedures.

CROSS-REFERENCE TO RELATED APPLICATIONS

This patent application is a continuation of U.S. patent applicationSer. No. 13/839,422, filed on Mar. 15, 2013, now issued as U.S. Pat. No.9,498,292 and entitled “Single Site Robotic Devices and Related Systemsand Methods,” which claims the benefit of priority under 35 U.S.C.§119(e) to U.S. Provisional Patent Application 61/640,879, filed May 1,2012 and entitled “Single Site Robotic Device and Related Systems andMethods,” both of which are hereby incorporated herein by reference intheir entireties.

GOVERNMENT SUPPORT

These inventions were made with government support under at least one ofthe following grants: Grant Nos. NNX10AJ26G and NNX09AO71A, awarded bythe National Aeronautics and Space Administration; Grant Nos.W81XWH-08-2-0043 and W81XWH-09-2-0185, awarded by U.S. Army MedicalResearch and Material Command; Grant No. DGE-1041000, awarded by theNational Science Foundation; and Grant No. 2009-147-SC1, awarded by theExperimental Program to Stimulate Competitive Research at the NationalAeronautics and Space Administration. Accordingly, the government hascertain rights in the invention.

TECHNICAL FIELD

The embodiments disclosed herein relate to various medical devices andrelated components, including robotic and/or in vivo medical devices andrelated components. Certain embodiments include various robotic medicaldevices, including robotic devices that are disposed within a bodycavity and positioned using a support component disposed through anorifice or opening in the body cavity. Further embodiment relate tomethods of operating the above devices.

BACKGROUND

Invasive surgical procedures are essential for addressing variousmedical conditions. When possible, minimally invasive procedures such aslaparoscopy are preferred.

However, known minimally invasive technologies such as laparoscopy arelimited in scope and complexity due in part to 1) mobility restrictionsresulting from using rigid tools inserted through access ports, and 2)limited visual feedback. Known robotic systems such as the da Vinci®Surgical System (available from Intuitive Surgical, Inc., located inSunnyvale, Calif.) are also restricted by the access ports, as well ashaving the additional disadvantages of being very large, very expensive,unavailable in most hospitals, and having limited sensory and mobilitycapabilities.

There is a need in the art for improved surgical methods, systems, anddevices.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a top perspective view of a robotic surgical system accordingto one embodiment.

FIG. 2 is the same perspective view of the device of FIG. 1.

FIG. 3 is the same perspective view of the device of FIG. 1.

FIG. 4A is a schematic view of the robotic medical device body from thetop, according to one embodiment.

FIG. 4B is a schematic view of the robotic medical device body from theside, according to the embodiment of FIG. 4A.

FIG. 4C is a cutaway perspective schematic view of a robotic medicaldevice body, according to the embodiment of FIG. 4A.

FIG. 4D is a perspective exploded schematic view of a robotic medicaldevice body, according to the embodiment of FIG. 4A.

FIG. 4E is another exploded schematic view of a robotic medical devicebody, according to the embodiment of FIG. 4A.

FIG. 4E is an end-long see-through schematic view of a robotic medicaldevice body, according to the embodiment of FIG. 4A.

FIG. 4F is another cutaway perspective schematic view of a roboticmedical device body, according to the embodiment of FIG. 4A.

FIG. 4G is a top-down see-through schematic view of a robotic medicaldevice body, according to the embodiment of FIG. 4A.

FIG. 4H is a see-through schematic side view of a robotic medical devicebody, according to the embodiment of FIG. 4A.

FIG. 5A is a top perspective exploded schematic of the body of a roboticdevice, according to one embodiment.

FIG. 5B is a bottom perspective exploded schematic of the body of arobotic device, according to the embodiment of FIG. 5A.

FIG. 6A is a top perspective exploded schematic of the internalcomponents of body of a robotic device, according to one embodiment.

FIG. 6B is a top perspective separated schematic of the internalcomponents of a robotic device, according to the embodiment of FIG. 6A.

FIG. 6C is an endlong schematic of the internal components of a roboticdevice, along the section line of FIG. 6B according to the embodiment ofFIG. 6B.

FIG. 7A is a top perspective separated schematic of the internalcomponents and body of a robotic device, according to one embodiment.

FIG. 7B is an exploded top perspective view of the body of a roboticdevice, according to the embodiment of FIG. 7A.

FIG. 8A is a bottom perspective view of the internal components and bodyof a robotic device, according to one embodiment.

FIG. 8B is a sectional view of the body of a robotic device showinginternal wiring, according to the embodiment of FIG. 8A.

FIG. 9A is another exploded perspective view of internal components of arobotic device, according to one embodiment.

FIG. 9B is a sectional view of the body of a robotic device, accordingto the embodiment of FIG. 9A.

FIG. 9C is a close exploded view of bevel gear and spur shaft of arobotic device, according to the embodiment of FIG. 9A.

FIG. 10A is an perspective exploded view of the body segments of arobotic device, according to another embodiment.

FIG. 10B is an perspective exploded view of the body segments of arobotic device, according to the embodiment of FIG. 10A.

FIG. 11A is an perspective exploded view of a body segment of a roboticdevice, according to another embodiment.

FIG. 11B is an endlong sectional view of a body segment of a roboticdevice, according to the embodiment of FIG. 11A.

FIG. 12A is an perspective exploded view of the body segments of arobotic device, according to another embodiment.

FIG. 12B is an opposite perspective exploded view of the body segmentsof a robotic device, according to the embodiment of FIG. 12A.

FIG. 13A is an perspective exploded view of the shoulder joint of arobotic device, according to another embodiment.

FIG. 13B is a side view of the shoulder joint of a robotic device,according to the embodiment of FIG. 13A.

FIG. 13C is a cross sectional view of a shoulder joint of a roboticdevice, according to the embodiment of FIG. 13A.

FIG. 13D is an exploded perspective view of a shoulder joint of arobotic device, according to the embodiment of FIG. 13A.

FIG. 14A is a bottom perspective view of the shoulder joint of a roboticdevice, according to another embodiment.

FIG. 14B is a side perspective view of the shoulder joint of a roboticdevice, according to the embodiment of FIG. 14A.

FIG. 14C is a bottom view of the shoulder joints of a robotic device,according to the embodiment of FIG. 14A.

FIG. 15A is a perspective view of the upper arm of a robotic device,according to another embodiment.

FIG. 15B is a side view of the upper arm of a robotic device, accordingto the embodiment of FIG. 15A.

FIG. 16A is an exploded perspective view of the motor and drive train ofa robotic device, according to another embodiment.

FIG. 16B is a side view of the motor and drive train of a roboticdevice, according to the embodiment of FIG. 16A.

FIG. 17A is an exploded side view of the housing segments of a roboticdevice, according to another embodiment.

FIG. 17B is an exploded perspective view of the housing segments of arobotic device, according to the embodiment of FIG. 17A.

FIG. 18A is an exploded side view of the housing and spur shaft of arobotic device, according to another embodiment.

FIG. 18B is an assembled side cross-sectional view of the housing andspur shaft of a robotic device, according to the embodiment of FIG. 18A.

FIG. 19A is an exploded side perspective view of the shaft housing andhousing of a robotic device, according to another embodiment.

FIG. 19B is an opposite exploded side perspective view of the shafthousing and housing a robotic device, according to the embodiment ofFIG. 19A.

FIG. 19C is a cross-sectional view of the shaft housing and housing arobotic device, according to the embodiment of FIG. 19A.

FIG. 20A is a side view of the shaft of a robotic device, according toanother embodiment.

FIG. 20B is a perspective view of the shaft of a robotic device,according to the embodiment of FIG. 20A.

FIG. 20C is another perspective view of the shaft of a robotic device,according to the embodiment of FIG. 20A.

FIG. 21A is a perspective view of the forearm of a robotic device,according to another embodiment.

FIG. 21B is a side view of the forearm of a robotic device, according tothe embodiment of FIG. 21A.

FIG. 21C is another side view of the forearm of a robotic device,according to the embodiment of FIG. 21A.

FIG. 21D is an end view of the forearm of a robotic device, according tothe embodiment of FIG. 21A.

FIG. 21E is a cross sectional side view of the forearm of a roboticdevice, according to the embodiment of FIG. 21A.

FIG. 21F is a side view of the forearm of a robotic device, according tothe embodiment of FIG. 21A.

FIG. 21G is an exploded perspective view of the forearm and internalcomponents of a robotic device, according to the embodiment of FIG. 21A.

FIG. 21H is a side view of the forearm and internal components of arobotic device, according to the embodiment of FIG. 21A.

FIG. 22A is an exploded close-up view of the proximal end of the forearmand internal components of a robotic device, according to anotherembodiment.

FIG. 22B is a cutaway close-up view of the proximal end of the forearmand internal components of a robotic device, according to the embodimentof FIG. 22A.

FIG. 23A is a cutaway close-up view of the grasper end of the forearmand internal components of a robotic device, according to anotherembodiment.

FIG. 23B is an exploded close-up view of the grasper end of the forearmand internal components of a robotic device, according to the embodimentof FIG. 23A.

FIG. 24 is a perspective close-up view of the grasper of a roboticdevice, according to another yet implementation.

FIG. 25A is a see-through side view of the forearm having a camera andinternal components of a robotic device, according to another embodimentof the system.

FIG. 25B is an exploded and see-through view of the forearm having acamera of a robotic device, according to the embodiment of FIG. 25A.

FIG. 25C is a close up perspective view of the forearm having a cameraof a robotic device, according to the embodiment of FIG. 25A.

FIG. 25D is another close up perspective view of the forearm having acamera of a robotic device, according to the embodiment of FIG. 25A.

FIG. 25E is a perspective view of the forearm having a camera detailingthe camera's field of vision for a robotic device, according to theembodiment of FIG. 25A.

FIG. 26A is a side view of the forearm and body of a robotic device inone position, according to another embodiment.

FIG. 26B is a side view of the forearm and body of a robotic device inone position, according to the embodiment of FIG. 26A.

FIG. 26C is a side view of the forearm and body of a robotic device inone position, according to the embodiment of FIG. 26A.

FIG. 26D is a side view of the forearm and body of a robotic device inone position, according to the embodiment of FIG. 26A.

FIG. 26E is a side view of the forearm and body of a robotic device inone position, according to the embodiment of FIG. 26A.

FIG. 26F is a side view of the forearm and body of a robotic device inone position, according to the embodiment of FIG. 26A.

FIG. 27A is a side view of the forearm and body of a robotic device inone position inside the body, according to another embodiment.

FIG. 27B is a side view of the forearm and body of a robotic device inone position inside the body according to the embodiment of FIG. 27A.

FIG. 27C is a side view of the forearm and body of a robotic device inone position inside the body, according to the embodiment of FIG. 27A.

FIG. 28 is front view of a robotic device, according to one embodiment.

FIG. 29 is a perspective view of an accelerometer according to oneembodiment, showing the axis of detection.

DETAILED DESCRIPTION

The various embodiments disclosed or contemplated herein relate tosurgical robotic devices, systems, and methods. More specifically,various embodiments relate to various medical devices, including roboticdevices and related methods and systems. Certain implementations relateto such devices for use in laparo-endoscopic single-site (LESS) surgicalprocedures.

It is understood that the various embodiments of robotic devices andrelated methods and systems disclosed herein can be incorporated into orused with any other known medical devices, systems, and methods. Forexample, the various embodiments disclosed herein may be incorporatedinto or used with any of the medical devices and systems disclosed incopending U.S. application Ser. No. 11/766,683 (filed on Jun. 21, 2007and entitled “Magnetically Coupleable Robotic Devices and RelatedMethods”), Ser. No. 11/766,720 (filed on Jun. 21, 2007 and entitled“Magnetically Coupleable Surgical Robotic Devices and Related Methods”),Ser. No. 11/966,741 (filed on Dec. 28, 2007 and entitled “Methods,Systems, and Devices for Surgical Visualization and DeviceManipulation”), 61/030,588 (filed on Feb. 22, 2008), Ser. No. 12/171,413(filed on Jul. 11, 2008 and entitled “Methods and Systems of Actuationin Robotic Devices”), Ser. No. 12/192,663 (filed Aug. 15, 2008 andentitled Medical Inflation, Attachment, and Delivery Devices and RelatedMethods”), Ser. No. 12/192,779 (filed on Aug. 15, 2008 and entitled“Modular and Cooperative Medical Devices and Related Systems andMethods”), Ser. No. 12/324,364 (filed Nov. 26, 2008 and entitled“Multifunctional Operational Component for Robotic Devices”), 61/640,879(filed on May 1, 2012), Ser. No. 13/493,725 (filed Jun. 11, 2012 andentitled “Methods, Systems, and Devices Relating to Surgical EndEffectors”), Ser. No. 13/546,831 (filed Jul. 11, 2012 and entitled“Robotic Surgical Devices, Systems, and Related Methods”), 61/680,809(filed Aug. 8, 2012), Ser. No. 13/573,849 (filed Oct. 9, 2012 andentitled “Robotic Surgical Devices, Systems, and Related Methods”), andSer. No. 13/738,706 (filed Jan. 10, 2013 and entitled “Methods, Systems,and Devices for Surgical Access and Insertion”), and U.S. Pat. No.7,492,116 (filed on Oct. 31, 2007 and entitled “Robot for SurgicalApplications”), U.S. Pat. No. 7,772,796 (filed on Apr. 3, 2007 andentitled “Robot for Surgical Applications”), and U.S. Pat. No. 8,179,073(issued May 15, 2011, and entitled “Robotic Devices with Agent DeliveryComponents and Related Methods”), all of which are hereby incorporatedherein by reference in their entireties.

Certain device and system implementations disclosed in the applicationslisted above can be positioned within a body cavity of a patient incombination with a support component similar to those disclosed herein.An “in vivo device” as used herein means any device that can bepositioned, operated, or controlled at least in part by a user whilebeing positioned within a body cavity of a patient, including any devicethat is coupled to a support component such as a rod or other suchcomponent that is disposed through an opening or orifice of the bodycavity, also including any device positioned substantially against oradjacent to a wall of a body cavity of a patient, further including anysuch device that is internally actuated (having no external source ofmotive force), and additionally including any device that may be usedlaparoscopically or endoscopically during a surgical procedure. As usedherein, the terms “robot,” and “robotic device” shall refer to anydevice that can perform a task either automatically or in response to acommand.

Certain embodiments provide for insertion of the present invention intothe cavity while maintaining sufficient insufflation of the cavity.Further embodiments minimize the physical contact of the surgeon orsurgical users with the present invention during the insertion process.Other implementations enhance the safety of the insertion process forthe patient and the present invention. For example, some embodimentsprovide visualization of the present invention as it is being insertedinto the patient's cavity to ensure that no damaging contact occursbetween the system/device and the patient. In addition, certainembodiments allow for minimization of the incision size/length. Furtherimplementations reduce the complexity of the access/insertion procedureand/or the steps required for the procedure. Other embodiments relate todevices that have minimal profiles, minimal size, or are generallyminimal in function and appearance to enhance ease of handling and use.

Certain implementations disclosed herein relate to “combination” or“modular” medical devices that can be assembled in a variety ofconfigurations. For purposes of this application, both “combinationdevice” and “modular device” shall mean any medical device havingmodular or interchangeable components that can be arranged in a varietyof different configurations. The modular components and combinationdevices disclosed herein also include segmented triangular orquadrangular-shaped combination devices. These devices, which are madeup of modular components (also referred to herein as “segments”) thatare connected to create the triangular or quadrangular configuration,can provide leverage and/or stability during use while also providingfor substantial payload space within the device that can be used forlarger components or more operational components. As with the variouscombination devices disclosed and discussed above, according to oneembodiment these triangular or quadrangular devices can be positionedinside the body cavity of a patient in the same fashion as those devicesdiscussed and disclosed above.

An exemplary embodiment of a robotic device is depicted in FIGS. 1, 2,and 3. The device has a main body, 100, a right arm A, and a left arm B.As best shown in FIG. 2, each of the left B and right A arms iscomprised of 2 segments: an upper arm (or first link) 300A, 300B and aforearm (or second link) 200A, 200B, thereby resulting in each arm A, Bhaving a shoulder joint (or first joint) 300.1A, 300.1B and an elbowjoint (or second joint) 200.1A, 200.1B. As best shown in FIGS. 2-32, incertain implementations, each of the left arm B and right arm A iscapable of four degrees of freedom. The left shoulder joint 300.1B andright shoulder joint 300.1A have intersecting axes of rotation: shoulderyaw (θ1) and shoulder pitch (θ2). The elbow joints 200.1A, 200.1Bcontribute a degree of freedom—elbow yaw (θ3)—and the end effectors doas well: end effector roll (θ4).

FIGS. 4A, 4B, 4C, 4D, 4E, 4F, 4G, and 4H depict the device body 100according to an exemplary embodiment. More specifically, FIG. 4A depictsa front view of the body 100, while FIG. 4B depicts a side view. Inaddition, FIGS. 4C, 4D, 4E, 4F, 4G, and 4H depict various perspectivesof the device body 100 in which various internal components of the body100 are visible.

The body 100 contains four motors which control shoulder yaw (θ1) andshoulder pitch (θ2) for the right and left arms A, B. More specifically,as best shown in FIGS. 4C, 4G, and 13D, the proximal right motor 109Aand distal right motor 122A control shoulder yaw (θ1) and shoulder pitch(θ2) for the right shoulder 300.1A, while the proximal left motor 109Band distal left motor 122B control shoulder yaw (θ1) and shoulder pitch(θ2) for the left shoulder 300.1B. This discussion will focus on theright shoulder 300.1A and arm A, but it is understood that a similar setof components are coupled in a similar fashion to control the yaw andpitch of the left shoulder 300.1B and left arm B.

As best shown in FIG. 4G (and as will be explained in further detailelsewhere herein), the proximal right motor 109A is operably coupled tothe right shoulder subassembly 127A of the right shoulder 300.1A viagear 108A, which is operably coupled to gear 115.1A on the end of theright spur shaft 115A, and the right bevel gear first right bevel gearat the opposite end of the right spur shaft 115A is operably coupled tothe bevel gear 130A of the right shoulder subassembly 127A. In addition,the distal right motor 122A is operably coupled to the right shouldersubassembly 127A via a right distal spur gear 121A, which is operablycoupled to a gear 119A, which is operably coupled to bevel gear secondright bevel gear 117A, which is operably coupled to the bevel gear 130Aof the right shoulder subassembly 127A. The proximal right motor 109Aand distal right motor 122A operate together to control both theshoulder yaw (θ1) and shoulder pitch (θ2) for the right shoulder 300.1Aby rotating the first right bevel gear and second right bevel gear atpredetermined directions and speeds as will be described in furtherdetail below.

In one embodiment, the four motors 109A, 109B, 122A, 122B, along withthe motors in the arms as described elsewhere herein, are brushed directcurrent (DC) motors with integrated magnetic encoders and planetarygearheads. According to various embodiments, the motors used in thedevice can vary in size depending on the particular device embodimentand the location and/or use of the motor, with the size ranging indiameter from about 6 mm to about 10 mm. Alternatively, any known motorsor other devices for converting electrical energy into rotational motioncan be used.

As best shown in FIGS. 4A and 4B, according to one implementation, thebody 100 has a plurality of segments that result in separate housings orsubassemblies that are coupled together. In the implementation depictedin FIGS. 4A and 4B, there are six segments, but other numbers arepossible. These segments 101, 102, 103, 104, 105, and 106 createhousings that provide protection for internal electronics and supportfor internal components, including motors and drivetrain components. Inthe implementation shown in FIGS. 4A and 4B, first segment 101 isconfigured to be coupled with second segment 102 such that secondsegment 102 is positioned at least partially within segment first 101,thereby creating first housing 100.1 as shown in FIGS. 4A, 4B, and 5A.Third segment 103, fourth segment 104, and fifth segment 105 are alsocoupled together to create second housing 100.2 as shown in FIGS. 4A,4B, and 5A. Finally, first housing 100.1 and second housing 100.2 arecoupled together as best shown in FIG. 5A. The segments, housings, andtheir assembly into the body 100 are discussed in further detail below.

As best shown in FIG. 4A, in certain embodiments, the distal end (orbottom) of the body 100 can also have a camera 99. In the implementationshown in FIG. 4A, the camera 99 is a single fixed camera 99 positionedin direct line of sight of the surgical workspace. Alternatively, thebody 100 could have multiple cameras operating together to providestereoscopic (3D) vision. In a further alternative, any known camera orset of cameras for use in medical devices could be used. In furtherembodiments, the body 100 can also have a lighting system such as LEDsand/or fiber optic lights to illuminate the body cavity and/or thesurgical workspace.

In one implementation, the plurality of segments 101, 102, 103, 104,105, 106 are made of a combination of machined aluminum and rapidprototyped plastic. One example of a process using such materials isdescribed in “Rapid Prototyping Primer” by William Palm, May 1998(revised Jul. 30, 2002), which is hereby incorporated herein byreference in its entirety. Alternatively, it is understood by thoseskilled in the art that many other known materials for medical devicescan be used, including, but not limited to, stainless steel and/orinjection molded plastics.

FIGS. 5A and 5B depict the first and second housings 100.1, 100.2. FIG.5A depicts the front of the first and second housings 100.1, 100.2,while FIG. 5B depicts the back. As best shown in FIGS. 4C-4H incombination with FIGS. 5A and 5B, the proximal right motor 109A andproximal left motor 109B are positioned in the first housing 100.1,while the distal right motor 122A and distal left motor 122B arepositioned in the second housing 100.2. the first and second housings100.1, 100.2 are coupled together using a plurality of threaded members107A, 107B, 107C as shown. Alternatively, any coupling mechanism can beused to retain the first 100.1 and second housings 100.2 together.

FIGS. 6A, 6B, and 6C depict the second segment 102 and the positioningof the right 109A and left proximal motors 109B within. In this specificembodiment, each of the proximal motors 109A, 109B has a diameter of 10mm and is made up of three components: the right planetary gearhead109A.1 and left planetary gearhead 109B.1, the proximal right motordrive component 109A.2, proximal left motor drive component 109B.2, andthe right 109A.3 and left encoders 109B.3. It is understood that theright 109A.1 and left 109B.1 planetary gearheads reduce the speed of theproximal motor drive components, 109A.2, 109B.2 and thus increases theoutput torque. It is further understood that the right 109A.3 and left109B.3 encoders control the position of the right proximal motor outputshaft 108.1A and left proximal motor output shaft 108.1B using electricpulses which can be generated by magnetic, optic, or resistance means.Thus, the right and left encoders 109A.3, 109B.3 provide accuratepositioning of the right proximal motor output shaft 108.1A and leftproximal motor output shaft 108.1B.

Thus, in certain implementations, each of the proximal right 108A, andproximal left spur gears 108B is used to transmit the rotational motionfrom the corresponding proximal motor 109A, 109B which further comprisesa proximal motor drive component 109A.2, 109B.2 which acts through aplanetary gearhead 109A.1, 109B.1). Each proximal spur gear 108A, 108Bis rotationally constrained with a “D” shaped geometric feature 108.1A,108.1B and, in some embodiments, a bonding material such as JB-Weld.

As shown in FIGS. 6A, 6B, and 6C, the second segment 102 has a pluralityof partial lumens, in this implementation a right partial lumen 102A andleft partial lumen 102B defined within the second segment 102 that haveinner walls that do not extend a full 360 degrees. The right and leftpartial lumens 102A, 102B are configured to receive the right and leftproximal motors 109A, 109B. The right and left proximal motors 109A,109B can be positioned in the right and left partial lumens 102A, 102Bas shown in FIGS. 6B, and 6C. In one embodiment, the second segment 102is configured to allow for the diameter of the walls of the right andleft partial lumens 102A, 102B to be reduced after the right and leftproximal motors 109A, 109B have been positioned therein, therebyproviding frictional resistance to rotationally and translationallysecure the right and left proximal motors 109A, 109B within the rightand left partial lumens 102A, 102B, thereby creating first subassembly100.1A. More specifically, the second segment 102 allows for a clampingforce to be applied to the right and left proximal motors 109A, 109B bythe tightening of the thread members 110. It is understood that theright and left proximal motors 109A, 109B can also be constrained orsecured by any other known method or mechanism.

FIGS. 7A and 7B show the attachment or coupling of the first subassembly100.1A with the first segment 101, thereby resulting in the firsthousing 100.1. First segment 101 has a first segment mating feature 101Adefined within the first segment 101 that is configured to receive thefirst subassembly 100.1A. More specifically, in the embodiment depictedin FIG. 7A, the first segment mating feature 101A is an opening definedin the first segment 101 that mates with the first subassembly 100.1Asuch that the first subassembly 100.1A fits within the opening andcouples with the first segment 101. In one embodiment, the firstsubassembly 100.1A fits within the first segment mating feature 101Asuch that the first subassembly 100.1A and the first segment 101 arerotationally constrained with respect to each other. Further, a firstthreaded member 107D is used to translationally constrain thecomponents.

In accordance with one implementation, the first segment top portion101.1 of the first segment 101 is configured or shaped to receive anexternal clamp (such as, for example, a commercially available externalclamp available from Automated Medical Products Corp. The clamp can beattached to the first segment top portion 101.1 to easily and securelyattach the clamp to the body 100.

As shown in FIGS. 8A and 8B, the first housing 100.1 can have additionalfeatures, according to one embodiment. More specifically, the firstsegment 101 can have a notch or opening 101.2 defined at a bottom backportion of the first segment 101 that provides an exit site forcabling/wiring 101.4 coupled to at least one of the right and leftproximal motors 109A, 109B disposed within the first housing 100.1.According to one embodiment, the opening 101.2 can provide strain relieffor the cabling/wiring 101.4 to maintain the integrity of theelectrical/electronic connections. That is, the opening 101.2 canprovide a clamping feature that clamps or otherwise secures all of thecabling/wiring 101.4 that extend through the opening, such that anyexternal forces applied to the cabling/wiring 101.4 do not extend pastthe opening 101.2, thereby preventing undesirable forces or strain onthe connections of any of those cables/wires 101.4 to any internalcomponents inside the first housing 100.1. The clamping feature resultsfrom the coupling of first 100.1 and second housings 100.2 as best shownin FIG. 5B. The urging of all the cabling/wiring 101.4 into the opening101.2 for purposes of allowing for coupling of the housings 100.1 and100.2 results in a “clamping” of the cabling/wiring 101.4 resulting fromthe frictional restriction of the cabling/wiring 101.4 in the opening101.2. In some alternative embodiments, the opening 101.2 can also befilled prior to use with silicon or some other means of sealing againstliquid contaminants, body fluids, etc., which can also provideadditional strain relief similar to the clamping feature describedabove. In addition, the first housing 100.1 can also have a cavity 101.3defined within the first housing 100.1 that allows sufficient clearancefor the cabling/wiring 101.4 to extend from at least one of the rightand left proximal motors 109A, 109B and exit through opening 101.2.

FIGS. 9A, 9B, and 9C depict the fourth segment 104, which is a componentof the second housing 100.2 discussed above and depicted in FIGS. 5A and5B. The fourth segment 104 has right 115.1A, and left fourth segmentlumens 115.1B defined in the fourth segment 104 that are configured toreceive the right proximal spur shaft 115A and left proximal spur shaft115B, both of which are part of the drive trains that operably couplethe right and left proximal motors 109A, 109B to the right and leftshoulder subassemblies 127A, 127B that constitute the right 300.1A andleft 300.1B shoulders of the device. The fourth segment 104 also hasright and left holes 122.1A, 122.1B defined in the fourth segment 104.These holes 122.1A, 122.1B are discussed in further detail in relationto FIGS. 11A and 11B below. While the drive train that includes theright proximal spur shaft 115A will be discussed in detail in thisparagraph, it is understood that the drive train that includes the leftproximal spur shaft 115B has the same components that are coupled andfunction in the same manner. As discussed above with respect to FIGS. 4Cand 4G, the right proximal spur shaft 115A is configured to be disposedthrough the right lumen 115.1A of the fourth segment 104. It has a firstright driven gear 115.2A at one end and is coupled to a first rightbevel gear 112A at the other. In addition, as best shown in FIGS. 9A and9B, a first right ball bearing 111A is positioned within an opening orrecess in the first right bevel gear 112A and is contacted only on itsouter race by the inner wall of the opening in the first right bevelgear 112A. In the finished assembly, this contact will provideappropriate preload to this bearing. It is understood by those ofordinary skill in the art that “bearing preload” is a term and conceptthat is well known in the art as a mechanism or method by which toimprove manufacturing tolerances from the ball bearing by applying aconstant axial stress.

Further, a second right ball bearing 113.1A is positioned on or aroundthe hub of the first right bevel gear 112A so that its inner race is theonly contact with the hub of the first right bevel gear 112A. A thirdball bearing 113.2A is positioned on or around the right proximal spurshaft 115A in a similar manner and further is positioned in a right borehole 113.3A in the right lumen 115.1A, as best shown in FIG. 9B.According to one embodiment, first right bevel gear 112A is coupled tothe spur shaft 115A via a threaded coupling (not shown). That is, thefirst right bevel gear 112A has a bevel gear lumen 112.1A as best shownin FIG. 9C that contains internal threads (not shown) while the spurshaft 115A has external threads (not shown) defined on an outer surfaceat the end of the shaft 115A that comes into contact with first rightbevel gear 112A. In one implementation, a thread locker is used topermanently affix the first right bevel gear 112A to the right proximalspur shaft 115A. According to one particular exemplary embodiment, thethread locker can be Loctite, which is commercially available fromHenkel Corp. in Dusseldorf, Germany. As such, the second and third ballbearings 113.1A, 113.2A contact the inner walls of the lumen 115.1A ontheir outer races and contact the outer surfaces of the first rightbevel gear 112A and the right proximal spur shaft 115A with their innerraces. Further, in one embodiment, the act of coupling the internalthreads in the bevel gear lumen 112.1A with the external threads on theouter surface of the spur shaft 115A preloads the second and third ballbearings 113.1A, 113.2A.

FIGS. 10A and 10B depict the fifth 105 and sixth 106 segments, both ofwhich are also components of the second housing 100.2 discussed aboveand depicted in FIGS. 5A and 5B. It should be noted that FIGS. 10A and10B depict the back side of these segments, while the other figuresdiscussed herein relating to the other segments generally depict thefront side. In one implementation, the sixth segment 106 is an end capsegment that couples to the fifth segment 105. The fifth segment, 105,like the fourth 104, has right and left lumens 119.1A, 119.1B defined inthe fifth segment 105 that are configured to receive the right 119.3Aand left distal spur shafts 119.3B, both of which are part of the drivetrains that operably couple the right 122A and left 122B distal motorsto the right 127A and left 127B shoulder subassemblies that constitutethe right 300.1A and left 300.1B shoulders of the device. In addition,the segment 105 also has right and left fifth segment lumens 122.4A,122.4B configured to receive the right 122A and left 122B distal motorsas best shown in FIGS. 12A and 12B and discussed below.

While the drive train that includes the first left distal spur shaft119.3B will be discussed in detail in this paragraph, it is understoodthat the drive train that includes the first right distal spur shaft119.3A has the same components that are coupled and function in the samemanner. The first left distal spur shaft 119.3B is configured to bedisposed through the left fifth segment lumen 119.1B. It has a leftdistal driven gear 119.2B at one end and is coupled to a left distalbevel gear 117B at the other. In addition, a fourth ball bearing 116B ispositioned within an opening or recess in the left distal bevel gear117B and is contacted only on its outer race by the inner wall of theopening in the left distal bevel gear 117B. Further, the fifth ballbearing 118.1B is positioned over/on the bore of left distal bevel gear117B and within the left fifth segment lumen 119.1B, while the fifthball bearing 118.2B is positioned on/over spur the left distal gearshaft 119B and within the left fifth segment lumen 119.1B at theopposite end of the fifth segment lumen 119.1B from fifth ball bearing118.1B. According to one embodiment, the left distal bevel gear 117B iscoupled to the first left distal spur shaft 119.3B via a threadedcoupling (not shown). That is, the left distal bevel gear 117B has aleft distal bevel gear lumen 117.1B as best shown in FIG. 10B thatcontains internal threads (not shown) while the first left distal spurshaft 119.3B has external threads (not shown) defined on an outersurface at the end of the first left distal spur shaft 119.3B that comesinto contact with left distal bevel gear 117B. In one implementation, athread locker is used to permanently affix the left distal bevel gear117B to the first left distal spur shaft 119.3B. According to oneparticular exemplary embodiment, the thread locker can be Loctite, asdescribed above. In one embodiment, the act of coupling the internalthreads in the left distal bevel gear lumen 117.1B with the externalthreads on the outer surface of the first left distal spur shaft 119.3Bpreloads the fifth and sixth ball bearings 118.1B, 118.2B.

FIGS. 11A and 11B depict the fourth segment 104 and, more specifically,the positioning of the right distal motor 122A and left distal motor122B in the fourth segment holes 122.1A, 122.1B. The right distal motor122A and left distal motor 122B, according to one embodiment, are 10 mmmotors that are similar or identical to the right and left proximalmotors 109A, 109B discussed above. Alternatively, any known motors canbe used. Each of the right distal motor 122A and left distal motor 122Bhave a second right distal spur gear 121A and second left distal spurgear 121B, respectively. In one embodiment, each second distal spur gear121A, 121B is coupled to the distal motor 122A, 122B with “D” geometryas described above and, in some embodiments, adhesive such as JB-Weld.As shown in FIG. 11A, the right distal motor 122A and left distal motor122B are positioned in the right and left fourth segment holes 122.1A,122.1B. In one implementation, the right distal motor 122A and leftdistal motor 122B are positioned correctly when the right and leftdistal motor ends 122.2A, 122.2B contact or are substantially adjacentto the right and left distal stop tabs 122.3A, 122.3B. When the rightdistal motor 122A and left distal motor 122B are positioned as desired,the threaded members 123 are inserted in the right and left threadedmember holes 123.1A, 123.1B and tightened, thereby urging the fourthsegment crossbar 123.2 downward and thereby constraining the rightdistal motor 122A and left distal motor 122B rotationally andtranslationally within the fourth segment holes 122.1A, 122.1B.

FIGS. 12A and 12B depict the fourth, fifth and sixth segments 104, 105,106 of the second housing 100.2 and how they are coupled together toform the second housing 100.2. As will be explained in detail below, thefourth, fifth and sixth segments 104, 105, 106 couple together into asecond housing 100.2 that forms the right 300.1A and left shoulders300.1B of the device. The right distal motor 122A and left distal motor122B are positioned through the fifth segment lumens 122.4A, 122.4B suchthat the second distal spur gears 121A, 121B that are coupled to theright distal motor 122A and left distal motor 122B are positionedagainst the fifth segment 105 and between the fifth 105 and sixthsegments 106. The second distal spur gears 121A, 121B transmit therotational motion from the right distal motor 122A and left distal motor122B, respectively to the distal spur shafts 119.3A, 119.3B, which arepositioned such that they are coupled to the second distal spur gears121A, 121B. As described in detail with respect to FIGS. 10A and 10B,the first distal spur shafts 119.3A, 119.3B are coupled to the secondright bevel gear, 117B so that the motion is also transferred throughthe second right bevel gear, 117B.

When the fourth, fifth and sixth segments 104, 105, 106 are coupledtogether to form the second housing 100.2, in one embodiment, a fifthsegment projection 105A on the back of the fifth segment 105 ispositioned in and mates with a fourth segment notch 104A in the back ofthe fourth segment 104, as best shown in FIG. 12B. Further threadedmembers are then threaded through holes in the fourth segment (notshown) and into the projection 105A, thereby further securing the fourthand fifth segments 104,105. This mated coupling of the fifth segmentprojection 105A and fourth segment notch 104A can, in oneimplementation, secure the fourth and fifth segments 104, 105 to eachother such that neither component is rotational in relation to theother, while the threaded members secure the segments translationally.

In one implementation best shown in FIG. 12A, the third segment 103 canserve as a protective cover that can be coupled or mated with the frontportion of the fourth segment 104 and retained with a threaded member126. In these embodiments, the third segment 103 can help to protect themotors and electronics in the second housing 100.2. In addition, agearcap cover segment 106 can be coupled or mated with the bottomportion of the fourth segment 104 and retained with threaded members120. The cover segment 106 can help to cover and protects the variousgears 119A, 119B, 121A, 121B contained within the fourth segment 104.The coupling of the fourth 104 and fifth 105 segments also results inthe positioning of the second right bevel gear 117A in relation to thefirst right bevel gear, 112B such that the second right bevel gear 117Aand the first right bevel gear 112A are positioned to couple with theright shoulder subassembly 127A to form the right shoulder 300.1A andthe corresponding left bevel gears 117B, 112B are positioned to couplewith the subassembly left shoulder subassembly 127B to form the leftshoulder 300.1B. This is depicted and explained in further detail inFIGS. 13A-14C.

FIGS. 13A-13D and 14A-14C depict the shoulder subassembly design,according to one embodiment. The components in these figures arenumbered and will be described without reference to whether they arecomponents of the right shoulder (designated with an “A” at the end ofthe number) or the left shoulder (designated with a “B” at the end ofthe number). Instead, it is understood that these components aresubstantially similar on both sides of the device and will be describedas such.

The shoulder subassemblies 127A, 127B of the right shoulder 300.1A andleft shoulder 300.1B respectively, have output bevel gears 130A, 130B(which couples with the right bevel gears 112A, 117A and left bevelgears 112B, 117B) having a right lumen 130A and left lumen (notpictured) configured to receive the right output shaft 128A and leftoutput shaft. The right output shaft 128A is positioned in the lumen130A and also has two projections (a first 128A.1, and second 128A.2)that are configured to be positioned in the lumens of the first andsecond right bevel gears 112A, 117A. In addition, a plurality of ballbearings 111, 116 are positioned over the projections 128A.1, 128A.2such that the inner race of the bearings 111, 116 contact theprojections 128A.1, 128A.2.

A further ball bearing 129A is positioned on/over the right output shaft128A such that the ball bearing 129 is positioned within the lumen 130Aof the right output bevel gear 130A. Yet a further ball bearing 131 ispositioned in the opposing side of the right output bevel gear lumen130A and on/over a threaded member 132. The threaded member 132 isconfigured to be threaded into the end of the right output shaft 128Aafter the shaft 128A has been positioned through the lumen 130A of theright output bevel gear 130A, thereby helping to retain the right outputbevel gear 130A in position over the right output shaft 128A and coupledwith the first and second right bevels gears 112A, 117A. Once thethreaded member 132 is positioned in the right output shaft 128A andfully threaded therein, the full right shoulder subassembly 127A isfully secured such that the right output bevel gear 130A is securelycoupled to the first and second right bevel gears 112A, 117A.

In operation, as best shown in FIG. 13B, rotation of the first andsecond right bevel gears 112A, 117A rotates the right output bevel gear130, which can cause rotation of the right shoulder subassembly 127Aalong at least one of two axes—axis A1 or axis A2—depending on thespecific rotation and speed of each of the first and second right bevelgears 112A, 117A. For example, if both first and second right bevelgears 112A, 117A are rotated in the same direction at the same speed,the first and second right bevel gears 112A, 117A are essentiallyoperating as if first and second right bevel gears 112A, 117A are afixed, single unit that cause rotation of the shoulder subassembly 127Aaround axis A1. In an alternative example, if the first and second rightbevel gears 112A, 117A are rotated in opposite directions, the rightoutput bevel gear 130A is rotated around axis A2. It is understood thatthe first and second right bevel gears 112A, 117A can also work togetherto achieve any combination of rotation along both axes A1, A2. That is,since the first and second right bevel gears 112A, 117A are drivenindependently by the distal and proximal motors 122A, 109A, anycombination of θ1 and θ2 are achievable around axes A1 and A2. As anexample, if both gears 112A, 117A are rotated in the same direction butat different speeds, this will result in a combined rotation of thesubassembly around both the A1 axis and the A2 axis, as would be clearto one of skill in the art

FIGS. 15A and 15B depict a right upper arm (or first link) 300A that iscoupled to the device body 100 at right shoulder 300.1A (as also shownin FIGS. 1 and 2). While the following figures and discussion focus onthe right upper arm 300A, it is understood that the left upper arm 300Bcan have the same or similar components and thus that the discussion isrelevant for the left upper arm 300B as well. As shown in FIGS. 15A and15B, the upper arm 300A is coupled to the output bevel gear 130A withtwo threaded screws 301A.1. In addition, according to certainembodiments, the upper arm 300A has a notch 301.1A defined in theproximal end of the arm 300A into which the output bevel gear 130A ispositioned, thereby providing additional mating geometry that furthersecures the upper arm 300A and the output bevel gear 130A.

As best shown in FIG. 15B, the upper arm 300A has an upper arm motor317A that actuates the movement of the forearm 200A at the elbow joint200.1A of the arm A. That is, the motor 317 is coupled to an upper armspur gear 318A, which is coupled to an upper arm driven gear 302A. Thedriven gear 302A is coupled to a first right upper arm bevel gear 306A,which is coupled to a second right upper arm bevel gear 313A. The secondright upper arm bevel gear 313A is coupled to an upper arm output upperarm shaft 312AA, which is coupled to the right forearm 200A. Each ofthese components and how they are coupled to each other will now bedescribed in further detail below.

FIGS. 16A and 16B depict the right upper arm motor 317A and the drivetrain coupled to the motor 317A in the upper arm 300A. In thisembodiment, the motor 317A is an 8 mm motor that is positioned in theupper arm 300A. The upper arm spur gear 318A is coupled to the upper armmotor output shaft 317A and rotationally secured via a “D” geometry317.1A. According to one embodiment, the upper arm spur gear 318A isfurther secured with JB-Weld. The upper arm 300A also has a housing 304Apositioned in the arm 300A that is configured to house or support thedrive train that is coupled to the upper arm motor 317A. The housing 304has a hole 304.3A defined by two arms 304.1A, 304.2A that is configuredto receive the motor 317A. When the motor 317A and upper arm spur gear318A have positioned correctly within the hole 304.3A such that theupper arm spur gear 318A is coupled to the upper arm spur shaft gear302A, a screw 319A can be positioned through holes in both arms 304.1A,304.2A and tightened, thereby urging the arms 304.1A, 304.2A togetherand securing the upper arm motor 317A both rotationally andtranslationally within the hole 304.3A. In one alternative, an adhesivesuch as epoxy can be added help to further restrict unwanted movement ofthe upper arm motor 317A in relation to the upper arm housing 304A. Thissecuring of the motor 317A in the upper arm housing 304A ensures propercoupling of upper arm spur gear 318A with the upper arm spur shaft gear302A.

FIGS. 17A and 17B depict the first 320A and second 232A segments (or“shells”) that couple together to create the housing around the upperarm motor 317A. The first shell 320A is positioned above the upper armmotor 317A and the second shell 323A is positioned beneath the motor317A. The two shells 320A, 323A are coupled together with screws 322Athat are positioned through the second shell 323A and into the firstshell 320A. In addition, the two shells 320A, 323A are also coupled tothe upper arm housing 304A, with the first shell 320A being coupled tothe upper arm housing 304A with screws 321A and the second shell 323Abeing coupled to the upper arm housing 304A with further screws 324A.

FIGS. 18A and 18B depict the right upper arm housing 304A and furtherdepict the right upper arm spur shaft 302A.1 positioned in the housing304A. The right upper arm spur shaft 302A has a right upper arm spurgear 302A.2 at one end of the spur shaft 302A.1 as best shown in FIG.18A. The spur shaft 302A.1 is positioned in an upper arm housing lumen304A.1 defined in the housing 304A. There are two ball bearings 303, 305positioned on/over the spur shaft 302A.1 and further positioned at theopenings of the upper arm housing lumen 304A.1. A first upper armbearing 303 is positioned on/over the spur shaft 302A.1 so that only itsinner race is contacting the shaft 302A.1. A second upper arm bearing305A is positioned on/over spur shaft 302A.1 in the same manner. Thefirst right upper arm bevel gear 306A is coupled to the upper arm spurshaft 302A.1 at the end opposite the spur shaft gear 302A.2. The upperarm bevel gear 306A is secured to the spur shaft 302A.1 with “D”geometry 302A.3. In a further embodiment, the first right upper armbevel gear 306A can also be further secured using adhesive such asJB-Weld. A screw 307A is positioned through the first right upper armbevel gear 306A and into the spur shaft 302A.1 such that when the screw307A is fully threaded into the spur shaft 302A.1, the screw 307Atranslationally secures first right upper arm bevel gear 306A and alsopreloads the first 303 and second 305 upper arm bearings.

FIGS. 19A, 19B, and 19C depict the upper arm shaft housing 311A coupledto the upper arm housing 304. The upper arm shaft housing 311A is madeup of an upper shaft housing arm 311A.1 and a lower shaft housing arm311A.2, both of which are coupled to the upper arm housing 304A. Theupper shaft housing arm 311A.1 is coupled to the housing 304A via afirst pair of screws 307A.1, while the lower shaft housing arm 311A.2 iscoupled via a second pair of screws 308A.1. As best shown in FIG. 19B,each of the shaft housing arms 311A.1, 311A.2 has a hole 311A.1A,311A.2A. The upper arm shaft 312AA, as best shown in FIGS. 20A-20C, hasa vertical shaft component 312A.1 and an appendage 312A.2 coupled to thevertical shaft component 312A.1. The upper arm shaft 312AA is orientedin the assembled shaft housing 311A such that an upper portion of thevertical shaft component 312A.1 is positioned in the hole 311A.1A and alower portion of the vertical shaft component 312A.1 is positioned inthe hole 311A.2A. In addition, a vertical shaft bevel gear 313A ispositioned over the vertical shaft component 312A.1 and above the lowershaft housing arm 311A.2 such that the vertical shaft bevel gear 313A iscoupled to the first right upper arm bevel gear 306A when all componentsare properly positioned as best shown in FIG. 19C. The vertical shaftbevel gear 313A is coupled to the vertical shaft component 312A.1rotationally by a “D” geometry 312A.4 as best shown in FIG. 20B. In afurther implementation, the vertical shaft bevel gear 313A can befurther secured using JB-Weld. The vertical shaft component 312A.1 alsohas two ball bearings: a first vertical shaft ball bearing 315A ispositioned over the vertical shaft component 312A.1 and through hole311A.2A so that it is in contact with the vertical shaft bevel gear313A, while the second vertical shaft ball bearing 310A is positioned inthe hole 311A.1A. A screw 316 is positioned through the first ballbearing 315A and hole 311A.2A and threaded into the bottom of thevertical shaft component 312A.1, thereby helping to secure the upper armshaft 312AA in the assemble shaft housing 311A and the first ballbearing 315A in the hole 311A.2A. A second screw 309A is threaded intothe top of the vertical shaft component 312A to secure and preload thesecond ball bearing 310.

FIGS. 20A, 20B, and 20C depict upper arm shaft 312A, according to oneembodiment. The upper arm shaft 312A has an appendage 312A.2 that isconfigured to be coupled to the forearm 300A. In addition, the upper armshaft 312A is rotatable in relation to the upper arm 300A as a result ofthe plurality of vertical shaft ball bearings, 310A and 315A, as bestdepicted and described above in relation to FIGS. 19A-C. As such, inoperation, the upper arm shaft 312A is rotatable by the right upper armmotor 317AA in the upper arm 300A as described above via the drive trainthat couples the right upper arm motor 317A to the vertical shaft bevelgear 313A, which in turn is coupled to the upper arm shaft 312A. In oneembodiment, the appendage 312A.2 can be rotated around vertical upperarm shaft 312AA with a rotational radius or angle of φ3 as shown in FIG.20A. In one specific implementation, the angle is 50 degrees. Inaccordance with one embodiment, the appendage 312A.2 is configured to becoupleable to a forearm 300A via the configuration or geometry of theappendage 312A.2 and the hole 312A.5 formed underneath the appendage312A.2.

It is understood that any known forearm component can be coupled toeither upper arm 300A, 300B. According to one embodiment, the forearmcoupled to the upper arm 300A, 300B is the exemplary right forearm 410,which could apply equally to a right 410A or left 410B forearm, depictedin FIGS. 21A-21D. In this exemplary embodiment, the forearm has acylindrical body or housing 412 and an end effector 414. As shown inFIGS. 21G and 21H, the housing 412 is made up of two separate forearmhousing components 412.1, 412.2 that are coupled together with threebolts (or threaded members) 472. The three bolts 472 pass throughhousing component 412.1 and into threaded holes in the housing component412.2. Alternatively, the two forearm housing components 412.1, 412.2can be coupled together by any known coupling mechanism or method.

In this embodiment, the end effector 414 is a grasper, but it isunderstood that any known end effector can be coupled to and used withthis forearm 410. The depicted embodiment can also have a circularvalley 474 defined in the distal end of the forearm housing 412. Thisvalley 474 can be used to retain an elastic band or other similarattachment mechanism for use in attaching a protective plastic bag orother protective container intended to be positioned around the forearm410 and/or the entire device arm and/or the entire device to maintain acleaner robot.

As best shown in FIGS. 21E, 21G, and 21H, the forearm 410 has twomotors—a rotation motor 416 and an end effector motor 418. The rotationmotor 416 is coupled via a forearm rotation motor gear 420 and a forearmrotation motor attachment gear 422 to the forearm attachment component424, which is configured to be coupleable to an elbow joint, such aseither elbow joint 200.1A, 200.1B. The forearm rotation motor attachmentgear 422 transmits the rotational drive of the motor from the forearmrotation motor gear 420 to the forearm rotation motor attachmentcomponent 424. The attachment component 424, as best shown in FIGS. 22Aand 22B, has a forearm rotation motor shaft 426 that defines a forearmrotation motor lumen 428 having a threaded interior wall. Further, theattachment gear 422 and first and second forearm bearings 430, 432 arepositioned on/over this shaft 426, thereby operably coupling theattachment gear 422 to the attachment component 424. In one embodimentas shown, the shaft 426 has a D-shaped configuration 436 that mates withthe D configuration of the hole 438 defined in the gear 422, therebyrotationally coupling the shaft 426 and gear 422. Alternatively, anyconfiguration that can rotationally couple the two components can beincorporated. The bearing 430 is positioned on the shaft 426 between theattachment component 424 and the attachment gear 422, while the bearing432 is positioned between the attachment gear 422 and the motor 416. Inone embodiment, the bearing 430 is a ball bearing. Alternatively, aswith all of the bearings described in this application, these bearingsor bushings can be any roller bearings or bushings that can be used tosupport and couple any rotatable component to a non-rotatable componentor housing. The bearings 430, 432, attachment gear 422, and attachmentcomponent 424 are secured to each other via a bolt or other type ofthreaded member 434 that is threaded into the threaded lumen 428 of theshaft 426.

As best shown in FIGS. 21G and 22A, the two housing components 212A,212B have structures defined on their interior walls that are configuredto mate with the various components contained within the housing 212,including the gears 420, 422 and bearings 430, 432. As such, thebearings 430, 432 are configured to be positioned within the appropriatemating features in the housing components 212A, 212B. These featuressecure the bearings 430, 432 in their intended positions in the housing212 when the two housing components 212A, 212B are coupled. In addition,the rotation motor 416 is secured in its position within the housing 412through a combination of the coupling or mating of the motor 416 withthe features defined on the interior walls of the housing components212A, 212B and two bolts or other type of threaded members 440A, 440B(one bolt—440A—is depicted) that are threaded through the holes 442A,442B and into holes 444A, 444B defined in the motor 416.

In the depicted embodiment, the attachment component 424 is anattachment nut 424. However, it is understood that the specific geometryor configuration of the attachment component 424 can vary depending onthe specific robotic device and the specific elbow joint configuration.

In use, the actuation of the rotation motor 416 actuates rotation of theattachment component 424, which results in rotation of the forearm 410,thereby rotating the end effector 414. As such, in one embodiment, therotation of the end effector 414 is accomplished by rotating the entireforearm 410, rather than just the end effector 414. In the depictedembodiment, the forearm 410 rotates around the same axis as the axis ofthe end effector 414, such that rotation of the forearm 410 results inthe end effector 414 rotating around its axis. Alternatively, the twoaxes can be offset.

Any known end effector can be coupled to the forearm 410. In thisparticular embodiment as shown in FIG. 21E, the end effector is agrasper 414 having a yoke 414.2 that is positioned around the proximalends of the grasper components 414.1. In this embodiment, the grasper414 has a configuration and method of operation substantially similar tothe grasper disclosed in U.S. application Ser. No. 13/493,725, filed onJun. 11, 2012, which is hereby incorporated herein by reference in itsentirety. Alternatively, any known grasper configuration can be used.

As best shown in FIGS. 21E, 23A, and 23B, the end effector motor 418 isconfigured to actuate the grasper 414 arms to open and close via themotor gear 450, which is coupled to the coupling gear 452, which iscoupled to center drive rod 454, which is coupled to the graspercomponents 414.1. The grasper yoke 414.2 is substantially fixed to thehousing 412 so that it does not move relative to the housing 412. Morespecifically, the grasper yoke 414.2 is fixedly coupled to the yoke gear460, which is positioned in the housing 412 such that it is mated withthe ridged notch 462 defined in the inner wall of the housing 412, asbest shown in FIG. 23B. The teeth of the yoke gear 460 mate with theridges of the ridge notch 462 to thereby couple the gear 460 and thehousing 412. In addition, according to certain embodiments, glue can beplaced between the yoke gear 460 and the housing as well, to furtherenhance the fixation of the grasper yoke 414.2 to the housing 412.

The coupler gear 452 has a center hole (not shown) that is internallythreaded (not shown) such that the proximal end of the center drive rod454 is positioned in the center hole. Because the center drive rod 454has external threads (not shown) that mate with the internal threads ofthe center hole defined in the coupler gear 452, the rotation of thecoupler gear 452 causes the internal threads of the center hole toengage the external threads of the drive rod 454 such that the drive rod454 is moved translationally. This translational movement of the driverod 454 actuates the grasper arms to move between the closed and openpositions. The coupler gear 452 is supported by two bearings 464, 466,which are secured within the housing 412 by appropriate features definedin the inner walls of the housing 412. In addition, the end effectormotor 418 is secured in a fashion similar to the motor 416.

In an alternative embodiment, the grasper or other end effector can beactuated by any known configuration of actuation and/or drive traincomponents.

In one implementation, when the forearm 410 and the end effector 414 areassembled, the forearm 410 can have a gap 470 between the two motors416, 418. In accordance with one embodiment, the gap 470 can be a wiringgap 470 configured to provide space for the necessary wires and/orcables and any other connection components needed or desired to bepositioned in the forearm 410.

As discussed above, any end effector can be used with the robotic deviceembodiments disclosed and contemplated herein. One exemplaryimplementation of a grasper 500 that can be used with those embodimentsis depicted in FIG. 24. The grasper 500 has two jaws (also referred toas arms) 502.1, 502.2 that both pivot around a single pivot point 504.According to one embodiment, the grasper 500 is a “combination” or“hybrid” grasper 500 having structures configured to perform at leasttwo tasks, thereby reducing the need to use one tool for one task andthen replace it with another tool for another task. More specifically,each jaw 502.1, 502.2 has two sizes of ridges or toothlike formations(“teeth”): larger teeth 506.1, 506.2 and smaller teeth 508.1, 508.2. Itis understood that the teeth can be any known size for use in grasperjaws, so long as one set (the larger set) is larger than the other set(the smaller set). The larger teeth 506.1, 506.2 are intended for grossmanipulations (dealing with larger amounts of tissue or larger bodies inthe patient) while the smaller teeth 508.1, 508.2 are intended for finerwork (such as manipulating thin tissue). In use, when fine work is to beperformed, only the distal ends or tips of the jaws 502.1, 502.2 areused such that only the smaller teeth 508.1, 508.2 are used.

In one embodiment, the portion of the jaws 502, 502.2 having the smallerteeth 508.1, 508.2 is narrower in comparison to the portion having thelarger teeth 506.1, 506.2, thereby providing a thinner point that canprovide more precise control of the grasper 500.

In accordance with one implementation, a robotic device according to anyof the embodiments disclosed herein can also have at least one forearm550 with a camera 552 as shown in FIGS. 25A-25E. As best shown in FIGS.25A, 25B, and 25C, one embodiment of the forearm 550 with a camera 552has a lumen 560A defined through a camera housing 556 positioned at thedistal end of the forearm 550. In addition, the forearm 550 also has anend cap 554 that defines a portion of the lumen 560B as well, as bestshown in FIG. 25C. When the end cap 554 is positioned on the distal endof the forearm 550, the lumens 560A, 560B are coupled to produce asingle lumen 560. In one embodiment, the end cap 554 is coupled to thedistal end of the forearm 550 by sliding the cap 554 over the endeffector 562 (which, in this particular embodiment, is a cauterycomponent 562) and secured to the distal end of the forearm 550 using atleast one screw 558. The camera 552 can be positioned within the lumen560 as best shown in FIGS. 25A and 25D.

In use, the camera 552 provides a secondary viewpoint of the surgicalsite (in addition to the main camera on the robotic device (such as, forexample, the camera 99 described above) and could potentially preventtrauma by showing a close-up view of the site. In one embodiment, thecamera 552 is positioned such that the field of view contains the tip ofthe cautery (or any other end effector) 562 and as much of the surgicalsite as possible. One embodiment of the field of view 564 provided bythe camera 552 is depicted in FIG. 25E, in which the field of view coneis 60 degrees. Alternatively, the field of view can be any known sizefor a camera that can be incorporated into a medical device. In afurther alternative, multiple cameras could be incorporated into thedistal end of the forearm 550. In one embodiment, multiple cameras couldbe configured to provide stereoscopic (“3D”) visualization. In a furtheralternative implementation, the distal end of the forearm 550 could alsohave lights such as, for example, LED or fiber optic lights forillumination. While this particular embodiment depicts the camera 552being used on a cautery forearm 550, the camera 552 or any similarvariation of the camera 552 as contemplated herein can be incorporatedinto any robotic end effector in which an alternate view would bebeneficial. According to further alternative implementations, the cameraunit could be positioned in a location on a robotic device other thanthe forearm. In accordance with one embodiment, the one or moreadditional viewpoints provided by one or more additional cameras can beshown as a Picture In Picture (PIP) on the surgical user interface or onseparate monitors.

In use, the various embodiments of the robotic device disclosed andcontemplated herein can be positioned in or inserted into a cavity of apatient. In certain implementations, the insertion method is the methoddepicted in FIGS. 26A-26F. In this method, the entire device 602 can beinserted into the cavity as a single device, in contrast to those priorart devices that must be inserted in some unassembled state and thenassembled after insertion. That is, many known surgical robotic devicesprior to the embodiments disclosed herein require a relatively extensiveprocess for insertion into the abdominal cavity. For such prior artdevices, each arm must be inserted individually, aligned with a centralconnecting rod that is also inserted, and then coupled to the connectingrod to secure the arms in place. Other similar procedures require somesimilar set of steps relating to the insertion of various separate partsof a device, followed by some assembly of the parts once they arepositioned as desired in relation to the patient. Theseinsertion-then-assembly procedures are generally time-consumingprocedures that expose the robotic arms to fluids within the cavity forthe duration of the process. As such, these procedures can often lead topremature failure of the robots due to moisture damage of theelectronics and undue stress on the arms during assembly.

In contrast, the device embodiments disclosed herein allow for insertingthe entire device without any post-insertion assembly, therebyeliminating the problems described above. More specifically, theshoulder joint configuration and the reduced profile created by thatconfiguration allows the entire device to be inserted as a single unitwith both arms intact. FIGS. 26A-26F depict the various positions of thedevice arms 604 during the insertion procedure, according to oneembodiment. FIG. 26A depicts the base or homing position required by thecontrol kinematics. That is, as is understood by those of ordinary skillin the art, robotic devices typically have encoders that track thecurrent position of the moving parts of the device (such as, forexample, the arms 604 on this device), but the encoders track therelative position, not the actual position. As such, the homing positionis necessary in order for the device to start from a knownconfiguration. FIG. 26B depicts the arms 604 in a transition position inwhich the arms 604 are moving from the homing position toward the fullyextended vertical position of FIG. 26C. The shoulders are thenre-positioned to the configuration shown in FIG. 26D (and in furtherdetail in FIG. 27A in which the insertion tube 600 is depicted) in whichthe arms 604 are rotated to a position in which they are no longerpositioned along the same vertical axis (X1) as the device body 602, butinstead are positioned such that the axis (X2) of the arms 604 isparallel to and behind the device body 602. In addition, the rotation ofthe arms 604 to the position of 26D (and 27A) also results in thecross-sectional profile of the device 602 along its width being reducedby the size of the arms 604. That is, while the arms 604 in 26C arepositioned alongside the device body 602 such that the width of the body602 is enlarged by the width of the arms 604 on each side of the body602, the rotation of the arms 604 to a position behind the body 602 alsoresults in the arms 604 being positioned such that they are positionedwithin the width of the body 602 (that is, they do not extend beyond thewidth of the body 602). It is the configuration of the shoulders asdescribed above that allows for this particular repositioning. The endresult is a device configuration in 26D that has a smaller width thanthe configuration in 26C, thereby reducing the profile of the devicealong its width and allowing for insertion of the device without havingto remove the arms.

Once the device is in the configuration of MG 26D, the device can beginto be inserted into the cavity. Due to the length of the arms, thedevice cannot be fully inserted into the cavity in this verticalposition, so once the forearms are positioned inside the cavity, theyare rotated to the position shown in FIG. 26E (and in further detail inFIG. 27B). Once in this configuration, the rest of the robot is fullyinserted and then the device is configured into a typical operatingarrangement such as that shown in FIG. 26F (and in further detail inFIG. 27C).

The alternative embodiment depicted in FIGS. 27A-27C depict an insertiontube (also called an “overtube”) 600 in which the robotic device can bestored prior to use. Further, prior to insertion, the tube 600 will besealed to the abdominal wall after an incision has been made in thewall. Once sealed, the abdomen can be insufflated between the skin 1000and organ floor 1002 and the blue overtube and abdomen will be at equalpressures. The robot can then be inserted following the previouslyoutlined steps discussed above.

According to another embodiment, any of the robotic devices disclosed orcontemplated above can also incorporate sensors to assist in determiningthe absolute position of the device components. As depicted in FIG. 28,the robotic device 650 has a body 652, a right arm 654, and a left arm656. The right arm 654 has an upper arm 654A and a forearm 654B, and theleft arm 656 also has an upper arm 656A and a forearm 656B. Note thateach of the upper arms and forearms are also referred to as “links.” Inaddition, the right arm 654 has a shoulder joint 654C and an elbow joint654D, while the left arm 656 also has a shoulder joint 656C and an elbowjoint 656D.

In this embodiment, various position sensors 658, 660A, 660B, 662A, 662Bare positioned on the device 650 as shown in FIG. 28. More specifically,a first position sensor 658 is positioned on the device body 652, whilea second position sensor 660A is positioned on the right upper arm 654A,a third position sensor 660B is positioned on the right forearm 654B, afourth position sensor 662A is positioned on the left upper arm 656A,and a fifth position sensor 662B is positioned on the left forearm 656B.In accordance with one implementation, the sensors are 3-axis sensors,as described in FIG. 29. In one embodiment, the position sensor 658positioned on the device body 652 senses the orientation of the devicebody 652 and then the orientation of each of the sensors 660A, 660B,662A, 662B on the links 654A, 654B, 656A, 656B can be used to determinethe current position of each link of each arm 654, 656 and the jointangles at joints 654C, 654D, 656C, 656D.

More specifically, the sensor 658 positioned on the device body 652 isused as the known reference point, and each of the other sensors 660A,660B, 662A, 662B can be used in conjunction with the sensor 658 todetermine the position and orientation of both arms relative to thereference point. In one implementation, each 3-axis sensor measures thespatial effect of the at least one environmental characteristic beingmeasured and also determine the orientation of that sensor in all threespatial dimensions. Each sensor 660A, 660B, 662A, 662B on a link 654A,654B, 656A, 656B measures the environmental characteristic at thatposition on the link. For each link 654A, 654B, 656A, 656B, the measuredvalue and orientation of the sensor 660A, 660B, 662A, 662B on that linkcan then be used to determine the spatial orientation of each link 654A,654B, 656A, 656B. When sensors are mounted on every link as in FIG. 28,the kinematic configuration of both robotic arms 654, 656 can be usedwith the link orientations determined from the sensors to directlycalculate the position of the arms 654, 656 from the known referencepoint: sensor 658. This known orientation can then be used to determinethe position and orientation of both arms 654, 656 relative to thereference point 658.

While the sensors 660A, 660B, 662A, 662B in FIG. 28 are shown to beattached to an exterior surface of each link as shown, in alternativeembodiments the sensors can be mounted on the link in any known ormeasurable position and orientation. In a further alternative, each ofthe sensors can be mounted in an interior location inside the particularcomponent that the sensor is intended to be coupled to. In yet anotheralternative, each sensor can be positioned on an exterior portion of theappropriate component as long as it is firmly attached to the component.

In addition, it is understood that while the embodiment in FIG. 28depicts a robotic device 650 with two joints and two links per arm, theposition sensors can be applied to and used with a robotic device withany number of joints and links per arm in any configuration.

In one embodiment, the 3-axis sensors 658, 660A, 660B, 662A, 662B are3-axis accelerometers that measure the acceleration due to gravity. Itis understood that a 3-axis accelerometer operates in the followingfashion: the acceleration due to gravity is measured and depending onthe orientation of the arm link (or other device component), magnitudesof acceleration in proportion to the orientation angles of theaccelerometer are sensed on the different axes 702, 704, 706 of the3-axis accelerometer as best shown in FIG. 29. Given the accelerationmeasurements on each axis of the accelerometer, the orientation of thelink that the accelerometer is mounted on can be determined with respectto gravity.

Aside from being able to measure the acceleration of gravity, oneadditional characteristic of accelerometer sensors is that they can alsomeasure the acceleration of the link(s) they are attached to on therobotic device. As such, in certain embodiments, given a startingposition for the robotic device and its links, this acceleration datacan be integrated over time to provide a position for the links of therobot. The positions determined from this integration can be moreaccurate if the system model of the robot is known to help account forthe effects of inertia and other internal forces.

Alternatively, sensors other than accelerometers can be used. Possiblesensors include, but are not limited to, magnetometers (measuringmagnetic field from earth's magnetic field, induced magnetic field, orother magnetic field), tilt sensors, radio frequency signal strengthmeters, capacitance meter, or any combination or extensions of these.Further, while 3-axis sensors are used in the embodiment discussedabove, single or dual or other multi-axis sensors could be used.

Another type of sensor that can be used with a robotic device is agyroscope. The gyroscope measures the rate of rotation in space. Thegyroscope can be combined with an accelerometer and magnetometer to forman inertial measurement unit, or IMU, that can be used to measure thestatic position of the robotic device or to calculate the position ofthe device while it is moving through integration of the measured dataover time.

In use, the sensors described above help to determine or provideinformation about the absolute position of a device component, such asan arm. This contrasts with many known robotic devices that use embeddedencoders, which can only measure a relative change in a joint angle ofan arm such that there is no way to determine what position the arm isin when the device is first powered up (or “turned on”). The sensorsystem embodiments described herein help to determine the absoluteposition of one or more links on a robotic device. In fact, inaccordance with some implementations, the position tracking systemsdisclosed herein allow a robotic device or a user to autonomouslydetermine what position the device and device arms are in at any time.Such a system according to the embodiments disclosed herein can be usedalone (as a primary position tracking system) or in combination with theembedded encoders (as a redundant position tracking system). Although aspreviously described only one position sensor is used per link, otherembodiments have multiple sensors per link. The additional positionsensors provide additional positional redundancy, and in someimplementations the data collected from the multiple position sensorscan be used with various filtering techniques, such as Kalman Filtering,to provide a more robust calculation of the position of the robot.

While multiple embodiments are disclosed, still other embodiments of thepresent invention will become apparent to those skilled in the art fromthe following detailed description, which shows and describesillustrative embodiments of the invention. As will be realized, theinvention is capable of modifications in various obvious aspects, allwithout departing from the spirit and scope of the present invention.Accordingly, the drawings and detailed description are to be regarded asillustrative in nature and not restrictive.

Although the present invention has been described with reference topreferred embodiments, persons skilled in the art will recognize thatchanges may be made in form and detail without departing from the spiritand scope of the invention.

What is claimed is:
 1. A surgical robotic device, comprising: a) anelongate device body comprising a body housing; b) a right shoulderassembly comprising a right output bevel gear; c) a first right motordisposed within the body housing; d) a first right bevel gearrotationally coupled to the first right motor, wherein the first rightbevel gear is operably coupled to the right output bevel gear; e) asecond right motor disposed within the body housing; f) a second rightbevel gear rotationally coupled to the second right motor, wherein thesecond right bevel gear is operably coupled to the right output bevelgear; g) a right robotic arm operably coupled to the right shoulderassembly; h) a left shoulder assembly comprising a left output bevelgear; i) a first left motor disposed within the body housing; j) a firstleft bevel gear rotationally coupled to the first left motor, whereinthe first left bevel gear is operably coupled to the left output bevelgear; k) a second left motor disposed within the body housing; l) asecond left bevel gear rotationally coupled to the second left motor,wherein the second left bevel gear is operably coupled to the leftoutput bevel gear; and m) a left robotic arm operably coupled to theleft shoulder assembly.
 2. The surgical robotic device of claim 1,further comprising a) a right spur gear rotationally coupled at a firstend to the first right motor and at a second end to the first rightbevel gear; and b) a left spur gear rotationally coupled at a first endto the first left motor and at a second end to the first left bevelgear.
 3. The surgical robotic device of claim 1, wherein the first rightbevel gear is disposed proximally of the right output bevel gear and thesecond right bevel gear is disposed distally of the right output bevelgear.
 4. The surgical robotic device of claim 1, wherein the first leftbevel gear is disposed proximally of the left output bevel gear and thesecond left bevel gear is disposed distally of the left output bevelgear.
 5. The surgical robotic device of claim 1, wherein rotation of thefirst and second right bevel gears causes the right output bevel gear torotate around at least one of an axis parallel to a longitudinal axis ofthe first right motor and an axis transverse to the longitudinal axis ofthe first right motor.
 6. The surgical robotic device of claim 1,wherein rotation of the first and second left bevel gears causes theleft output bevel gear to rotate around at least one of an axis parallelto a longitudinal axis of the first left motor and an axis transverse tothe longitudinal axis of the first left motor.
 7. The surgical roboticdevice of claim 1, wherein rotation of the first and second right bevelgears at a same speed causes the right output bevel gear to rotatearound an axis parallel to a longitudinal axis of the first right motorsuch that the right robotic arm moves between a right arm insertionposition and a right arm operational position.
 8. The surgical roboticdevice of claim 7, wherein the right arm insertion position comprisesthe right robotic arm disposed such that the right robotic arm is notcoplanar with a horizontal plane of the device body, and wherein theright arm operational position comprises the right robotic arm disposedsuch that the right robotic arm is coplanar with a horizontal plane ofthe device body.
 9. The surgical robotic device of claim 1, whereinrotation of the first and second left bevel gears at a same speed causesthe left output bevel gear to rotate around an axis parallel to alongitudinal axis of the first left motor such that the left robotic armmoves between a left arm insertion position and a left arm operationalposition.
 10. The surgical robotic device of claim 9, wherein the leftarm insertion position comprises the left robotic arm disposed such thatthe left robotic arm is not coplanar with a horizontal plane of thedevice body, and wherein the left arm operational position comprises theleft robotic arm disposed such that the left robotic arm is coplanarwith a horizontal plane of the device body.
 11. A surgical roboticdevice, comprising: a) an elongate device body comprising a bodyhousing; b) a right shoulder assembly comprising a right output bevelgear; c) a proximal right motor disposed within the body housing; d) aproximal right bevel gear rotationally coupled to the proximal rightmotor, wherein the proximal right bevel gear is disposed proximally toand is operably coupled to the right output bevel gear; e) a distalright motor disposed within the body housing; f) a distal right bevelgear rotationally coupled to the distal right motor, wherein the distalright bevel gear is disposed distally to and is operably coupled to theright output bevel gear; g) a right robotic arm comprising: i) a rightupper arm link operably coupled to the right shoulder assembly; and ii)a right forearm link operably coupled to the right upper arm link; h) aleft shoulder assembly comprising a left output bevel gear; i) aproximal left motor disposed within the body housing; j) a proximal leftbevel gear rotationally coupled to the proximal left motor, wherein theproximal left bevel gear is disposed proximally to and is operablycoupled to the left output bevel gear; k) a distal left motor disposedwithin the body housing; l) a distal left bevel gear rotationallycoupled to the distal left motor, wherein the distal left bevel gear isdisposed distally to and is operably coupled to the left output bevelgear; and m) a left robotic arm comprising: i) a left upper arm linkoperably coupled to the left shoulder assembly; and ii) a left forearmlink operably coupled to the left upper arm link.
 12. The surgicalrobotic device of claim 11, further comprising a) a right spur gearrotationally coupled at a first end to the proximal right motor and at asecond end to the proximal right bevel gear; and b) a left spur gearrotationally coupled at a first end to the proximal left motor and at asecond end to the proximal left bevel gear.
 13. The surgical roboticdevice of claim 11, wherein rotation of the first and second right bevelgears causes the right output bevel gear to rotate around at least oneof an axis parallel to a longitudinal axis of the first right motor andan axis transverse to the longitudinal axis of the first right motor,and wherein rotation of the first and second left bevel gears causes theleft output bevel gear to rotate around at least one of an axis parallelto a longitudinal axis of the first left motor and an axis transverse tothe longitudinal axis of the first left motor.
 14. The surgical roboticdevice of claim 11, wherein rotation of the first and second right bevelgears at a same speed causes the right output bevel gear to rotatearound an axis parallel to a longitudinal axis of the first right motorsuch that the right robotic arm moves between a right arm insertionposition and a right arm operational position, and wherein rotation ofthe first and second left bevel gears at a same speed causes the leftoutput bevel gear to rotate around an axis parallel to a longitudinalaxis of the first left motor such that the left robotic arm movesbetween a left arm insertion position and a left arm operationalposition.
 15. The surgical robotic device of claim 14, wherein the rightarm insertion position comprises the right robotic arm disposed suchthat the right robotic arm is not coplanar with a horizontal plane ofthe device body, and wherein the right arm operational positioncomprises the right robotic arm disposed such that the right robotic armis coplanar with a horizontal plane of the device body, and wherein theleft arm insertion position comprises the left robotic arm disposed suchthat the left robotic arm is not coplanar with a horizontal plane of thedevice body, and wherein the left arm operational position comprises theleft robotic arm disposed such that the left robotic arm is coplanarwith a horizontal plane of the device body.
 16. A method of performingminimally invasive surgery, comprising: positioning a robotic devicethrough an incision into a cavity of a patient, the robotic devicecomprising: i) an elongate device body comprising a body housing; ii) aright shoulder assembly comprising a right output bevel gear; iii) afirst right motor disposed within the body housing; iv) a first rightbevel gear rotationally coupled to the first right motor, wherein thefirst right bevel gear is operably coupled to the right output bevelgear; v) a second right motor disposed within the body housing; vi) asecond right bevel gear rotationally coupled to the second right motor,wherein the second right bevel gear is operably coupled to the rightoutput bevel gear; vii) a right robotic arm operably coupled to theright shoulder assembly; viii) a left shoulder assembly comprising aleft output bevel gear; ix) a first left motor disposed within the bodyhousing; x) a first left bevel gear rotationally coupled to the firstleft motor, wherein the first left bevel gear is operably coupled to theleft output bevel gear; xi) a second left motor disposed within the bodyhousing; xii) a second left bevel gear rotationally coupled to thesecond left motor, wherein the second left bevel gear is operablycoupled to the left output bevel gear; and xiii) a left robotic armoperably coupled to the left shoulder assembly; and actuating the firstand second robotic arms to perform a procedure within the cavity of thepatient.
 17. The method of claim 16, further comprising rotating theright output bevel gear around at least one of an axis parallel to alongitudinal axis of the first right motor and an axis transverse to thelongitudinal axis of the first right motor by rotating the first andsecond right bevel gears; and rotating the left output bevel gear aroundat least one of an axis parallel to a longitudinal axis of the firstleft motor and an axis transverse to the longitudinal axis of the firstleft motor by rotating the first and second left bevel gears.
 18. Themethod of claim 16, further comprising: rotating the right output bevelgear between a right arm insertion position and a right arm operationalposition; and rotating the left output bevel gear between a left arminsertion position and a left arm operational position.
 19. The methodof claim 18, wherein the rotating the right output bevel gear between aright arm insertion position and a right arm operational positioncomprises rotating the right output bevel gear around an axis parallelto a longitudinal axis of the first right motor by rotating the firstand second right bevel gears at a same speed; and the rotating the leftoutput bevel gear between a left arm insertion position and a left armoperational position comprises rotating the left output bevel geararound an axis parallel to a longitudinal axis of the first left motorby rotating the first and second left bevel gears at a same speed. 20.The method of claim 19, wherein the right arm insertion positioncomprises the right robotic arm disposed such that the right robotic armis not coplanar with a horizontal plane of the device body, wherein theright arm operational position comprises the right robotic arm disposedsuch that the right robotic arm is coplanar with a horizontal plane ofthe device body, wherein the left arm insertion position comprises theleft robotic arm disposed such that the left robotic arm is not coplanarwith a horizontal plane of the device body, and wherein the left armoperational position comprises the left robotic arm disposed such thatthe left robotic arm is coplanar with a horizontal plane of the devicebody.